CN105563309B - It is a kind of actively to comply with end effector and its control method for adjustable pitch propeller robot grinding - Google Patents
It is a kind of actively to comply with end effector and its control method for adjustable pitch propeller robot grinding Download PDFInfo
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- CN105563309B CN105563309B CN201510764987.9A CN201510764987A CN105563309B CN 105563309 B CN105563309 B CN 105563309B CN 201510764987 A CN201510764987 A CN 201510764987A CN 105563309 B CN105563309 B CN 105563309B
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- grinding
- end effector
- ball
- force snesor
- pitch propeller
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/002—Grinding heads
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B51/00—Arrangements for automatic control of a series of individual steps in grinding a workpiece
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- Mechanical Engineering (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
End effector and control method are actively complied with for adjustable pitch propeller robot grinding the invention discloses a kind of, actively complying with end effector includes: grinding tool, BT30 knife handle, grinding electric main shaft, for fixing the bracket of grinding electric main shaft, for detecting the force snesor of normal grinding force, for installing the support of force snesor, for detecting the displacement sensor of terminal position deviation, support for fixed displacement sensor, freedom of axial movement is provided and transmits the ball-screw of torque, it is used to support and fixes the bearing block of ball-screw, ball-screw nut, ball-screw nut support, AC servo motor, for connecting the flange support and shaft coupling of servo motor and ball-screw, linear guide and sliding block, bottom support plate, it further include the control system for driving servo motor.The present invention has the advantages that structure is simple, easy to assembly, control precision is high, fast response time, while can replace grinding tool automatically.
Description
Technical field
The invention belongs to electro-mechanical arts, more particularly, to a kind of for adjustable pitch propeller robot grinding system
Actively comply with end effector and its control method.
Background technique
With microelectric technique, the rapid development of sensor technology, control technology and manufacturing technology level, robot
Application field gradually from carry, welding field be extended to grinding, polishing field.In various types of mechanical arms, people is simulated
Body arm and the articulated manipulator constituted, have many advantages, such as it is compact-sized, take up space that small, space is big, be using most
For one of extensive mechanical arm.
Adjustable pitch propeller paddle size is big, leaf curling, and using production method is customized, current processing technology is main
It is to carry out hand grinding and polishing after numerically-controlled machine tool finishing.Worker's hand electric grinding tool, subregion pair when hand grinding
The large-scale blades are ground and are polished.The constant control of contact force is to guarantee machined surface quality (surface roughness, ripple
Degree etc.) principal element.However since the control precision of manpower is limited, cause spoon of blade processing quality consistency poor, and deposit
The problems such as processing efficiency is low, large labor intensity, bad environments.
When replacing operator to carry out the grinding and polishing of complex free curved surface using multi-freedom joint mechanical arm, by
, close coupling non-linear in robot itself, end poing rigidity change with pose, repetitive positioning accuracy is difficult to meet high-precision processing
It is required that etc. the external interferences factor such as factors and location of workpiece error, rigidity error, robot control system be difficult to meet simultaneously
Higher position precision and contact force precision.Meanwhile existing in robot end's tool and workpiece surface contact process and impacting
Journey, robot body frequency is lower, and control system response speed is slower, it is difficult to quickly inhibit contact force concussion, to cause work
Part surface forms processing chatter mark.
Summary of the invention
Aiming at the above defects or improvement requirements of the prior art, the present invention provides one kind to be used for adjustable pitch propeller machine
The active control end effector of people's grinding, that its purpose is to provide structures is simple, easy to assembly, positioning accuracy is high, dynamic is loud
Should be fast, while can replace grinding tool automatically actively complies with end effector and its control method, thus solves adjustable pitch spiral
The technical issues of in paddle robot grinding and polishing for the control accuracy requirement of contact force.
To achieve the above object, according to one aspect of the present invention, it provides a kind of for adjustable pitch propeller robot
End effector is actively complied in grinding, which is characterized in that the end effector include execute grinding tool component, control assembly and
Bottom support component, wherein control assembly is contained in the space for executing grinding tool component and bottom support component composition；
Wherein executing grinding tool component includes grinding electric main shaft and holding for undertaking the grinding electric main shaft bracket for executing cutter
Row grinding tool, the grinding electric main shaft bracket are provided with the clip for being arranged the grinding electric main shaft, wherein the execution grinding tool
Movement is executed using the grinding electric main shaft as axis；
Wherein control assembly includes power part and detecting means, and wherein power part includes following part: being set to the bottom
Motor flange support in bottom support plate in support component, ball-screw left end and right end pass through bearing block and described respectively
Motor flange support is fixed on bottom support plate, and the ball-screw provides the grinding electric main shaft axis by ball-screw nut
To one-movement-freedom-degree, AC servo motor is connected and by the motor flange branch with the ball-screw by shaft coupling
Seat is fixed in the bottom support plate, and the power part further includes the controller being connected with the AC servo motor；
The detecting means include following part: displacement sensor and force snesor, wherein the displacement sensor passes through
The displacement sensor support for being set to two sides is connected with the bottom support plate, and movable part is connected with force snesor right support abutment,
The left side of the force snesor is connected by force snesor left support abutment with grinding electric main shaft bracket, and right side passes through the right branch of force snesor
Seat is connected with the ball-screw nut support being set on the ball-screw nut, for detecting normal direction suffered by the grinding tool
Grinding force；
The bottom support component further includes being set to the linear guide on two sides edge in the bottom support plate, the mill
It cuts electric spindle support bottom and is slided by sliding block along linear guide.
Further, the force snesor is S type pull pressure sensor, the grinding of normal direction suffered by grinding tool described in real-time detection
Power, and export and inputted with the analog voltage of surveyed grinding force linear correlation as the controller.
Further, institute's displacement sensors be linear grating, output to measured position information linearly relevant signal in
The controller.
Further, the controller, which receives, comes from the robot, the force snesor and institute's displacement sensors
Signal, and the position by controlling the AC servo motor and servo stiffness are ground to adjust the normal direction of the grinding tool
Power.
The invention also provides a kind of realize actively to comply with end effector for adjustable pitch propeller robot grinding
Control method, wherein robot has master controller, and the controller of the end effector is embedded microcontroller, described
Master controller is communicated with the embedded microcontroller by universal serial bus, which is characterized in that this method includes following step
It is rapid:
(1) issuing signal by the robot makes the end effector enter output state, and institute is arranged in the controller
AC servo motor is stated to return to zero-bit and keep lesser servo stiffness and damping；The end effector is close to workpiece to be ground
The processing planning path starting point on surface；
(2) execute grinding, the force snesor detects normal grinding force signal, if the grinding force signal be greater than or
Less than threshold value, the controller accordingly controls the AC servo motor and retracts or advance so that the output of the force snesor is protected
It holds in the threshold value or Near Threshold fluctuation, and the signal after feedback adjustment continues to execute grinding to the robot；
In general, through the invention it is contemplated above technical scheme is compared with the prior art, can obtain down and show
Beneficial effect:
It actively complies with end effector according to what the present invention realized and can be installed on commercial six-shaft industrial robot end, quotient
Position control is mainly used with six-shaft industrial robot, actively complies with end effector using independent according to what the present invention realized
Drive control device carries out contact force control, controls precision and response speed is higher than six-shaft industrial robot, and have automatically more
The function of changing grinding tool is actively complied with end effector and control method and can be especially favourably utilised for according to what the present invention realized
In the robot grinding system of the complex free curved surfaces such as adjustable pitch propeller blade.
To sum up, end effector structures are simple, easy to assembly, control precision is high for actively complying with of realizing of the present invention,
Large complicated free form surface robot mill is realized under conditions of not influencing six-shaft industrial robot manipulator motion control system
It cuts and is controlled with the contact force in polishing, be expected to be widely used in practice.
Detailed description of the invention
Fig. 1 is that a kind of end of actively complying with for adjustable pitch propeller robot grinding realized according to the present invention executes
The three-dimensional structure explosion map of device；
Fig. 2 is that a kind of end of actively complying with for adjustable pitch propeller robot grinding realized according to the present invention executes
The overall structure three-dimensional figure of device；
Fig. 3 is the control block diagram for actively complying with the Study on Contact Force Control in end effector realized according to the present invention；
Fig. 4 is the mounting structure exploded view according to the end effector force snesor in Fig. 1 of the present invention；
Fig. 5 is according to end effector displacement sensor and the mounting structure of servo motor signal realized in Fig. 1 of the present invention
Figure；
Fig. 6 is according to the end effector grinding electric main shaft supporting structure schematic diagram realized in Fig. 1 of the present invention；
Fig. 7 is according to the end effector bottom support plate structural schematic diagram realized in Fig. 1 of the present invention；
Fig. 8 is the schematic diagram that robot end is installed on according to the end effector realized in Fig. 1 of the present invention.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.As long as in addition, technical characteristic involved in the various embodiments of the present invention described below
Not constituting a conflict with each other can be combined with each other.
According to the end effector that the present invention realizes, multi-freedom joint mechanical arm is not used, but had devised
A kind of actuator that can be installed in commercial six-shaft industrial robot end, and independent control is provided in this actuator
Device is controlled, in short, the end effector include execute grinding tool component, control assembly and bottom support component, wherein
Control assembly is contained in the space for executing grinding tool component and bottom support component composition；
Wherein executing grinding tool component includes for undertaking the grinding electric main shaft bracket 160 for executing cutter, grinding electric main shaft 170
And grinding tool is executed, grinding electric main shaft bracket 160 is provided with the clip for being arranged the grinding electric main shaft 170, wherein executing
Grinding tool is that axis executes movement with grinding electric main shaft 170；
Wherein control assembly includes power part and detecting means, and wherein power part includes following part: being set to bottom support
The motor flange support 80 in bottom support plate 10 in component, 50 left end of ball-screw and right end pass through 40 He of bearing block respectively
Motor flange support 80 is fixed on bottom support plate 10, and ball-screw 50 provides grinding electric main shaft by ball-screw nut 60
170 freedom of axial movement, AC servo motor 100 are connected with ball-screw 50 by shaft coupling 90 and pass through motor flange
Support 80 is fixed in bottom support plate 10, and power part further includes the controller being connected with AC servo motor 100；
Detecting means include following part: displacement sensor 110 and force snesor 140, wherein displacement sensor 110 passes through
The displacement sensor support 12 for being set to two sides is connected with bottom support plate 10, movable part and 130 phase of force snesor right support abutment
Even, the left side of force snesor 140 is connected by force snesor left support abutment 150 with grinding electric main shaft bracket 160, and right side is passed by power
Sensor right support abutment 130 is connected with the ball-screw nut support 70 being set on ball-screw nut 60, executes mill for detecting
The suffered normal grinding force of tool；
Bottom support component further includes being set to the linear guide 20 on two sides edge in the bottom support plate 10, grinding electric
It is slided by sliding block 30 along linear guide 20 160 bottom of spindle carrier.
Embodiment
It as shown in Figure 1, 2, is the structural schematic diagram for the end effector realized according to the present invention, wherein the end executes
Device includes: bottom support plate 10, linear guide 20, sliding block 30, bearing block 40, ball-screw 50, ball-screw nut 60, ball
Feed screw nut support 70, motor flange component 80, yielding coupling 90, servo motor 100, displacement sensor 110, displacement sensing
Device support 120, force snesor right support abutment 130, force snesor 140, force snesor left support abutment 150, grinding electric main shaft bracket 160,
The end effector of the compositions such as grinding electric main shaft 170, BT30 knife handle 180, grinding tool 190, and by structures such as driver 2, controllers 3
At end effector control system.Actively complying with end effector is mechanism with single degree of freedom, is mainly examined by force snesor 140
Survey the position that normal grinding force and displacement sensor 110 when grinding electric main shaft 170 is contacted with workpiece detect grinding electric main shaft 170
Set variation, by adjust servo motor 100 position and servo stiffness maintain contact force it is constant or near setting value small range
Fluctuation.
Receive as shown in figure 3, can be seen that end effector controller from the control block diagram of end effector control system
The analog voltage signal of force snesor and displacement sensor handles output servo electricity as input, by designed control algolithm
Machine control signal, driver driving servo motor accurately adjust grinding electric main shaft position p.Entirely the final purpose of control system is
The normal grinding force f between grinding tool and workpiece is set to be maintained at setting value or the fluctuation of small range 1% near setting value.
As shown in Fig. 1,2 and 4,140 both ends of force snesor are fixedly arranged at force snesor right support abutment 130 respectively and force snesor is left
On support 150, the contact force measured at this time is normal grinding force when grinding electric main shaft is contacted with workpiece.Force snesor right support abutment
130 and force snesor left support abutment 150 have two floors, rigidity with higher.Ball-screw nut support 70 is placed in power biography
In the rectangular channel of sensor right support abutment 130, it is ensured that higher straightness.
As shown in Fig. 1,2 and 5, bearing block 40 and motor flange support 80 are fixed in bottom support plate 10, wherein step
Face can guarantee the concentricity of the two.Ball-screw nut 60 passes through ball-screw nut support 70 and force snesor right support abutment
130 are connected, and displacement sensor 110 is installed against step surface, and displacement sensor slipper is also fixedly arranged at force snesor right support abutment
On 130, to guarantee displacement sensor slipper and ball-screw nut 60 depth of parallelism with higher when moving.
As shown in Fig. 1,2 and 6,160 bottom of grinding electric main shaft bracket design fluted 161 and boss 162, groove 161 are made
For location feature, it is easily installed force snesor right support abutment 130 and force snesor left support abutment 150, and guarantees good straightness；Four
A boss 162 is symmetrical, and flatness is higher when processing, to guarantee when sliding block 30 is moved along linear guide 20 steadily without card
?.
As shown in Fig. 1,2 and 7, bottom support plate design has locating flange 11, and passes through six equally distributed threaded holes
12 are fixed on robot end, it can be achieved that high accuracy positioning, easy to disassemble.
As shown in Fig. 1,2 and Fig. 8, end effector is actively complied with by bottom support plate 10 and is installed on robot end,
Mounting means selects suspension method, wherein robot end's flange 200, six-dimensional force/torque sensor 210, six-dimensional force/moment sensing
Device connecting flange 220, quick-change tool 230, quick-change tool connecting flange 240 are not belonging to the present invention and actively comply with end effector
Structure design.
Illustrate the installation process for actively complying with end effector below with reference to Fig. 1,4,5 and Fig. 8.
It is divided into three modules when installation.First, in accordance with shown in Fig. 5, by bearing block 40, ball-screw 50, ball-screw nut
60, the motor drivens part such as ball-screw nut support 70, motor flange component 80, yielding coupling 90, servo motor 100 with
And displacement sensor 110, displacement sensor support 120 are fixed on bottom support plate 10, and linear guide 20 is supported against bottom
The installation of 10 step surface of plate, and sliding block is placed in linear guide, and guarantee good lubrication, thus comprising modules 1；Secondly according to figure
Shown in 4, force snesor 140 is connected with force snesor right support abutment 130 and force snesor left support abutment 150 respectively, then passes power
Sensor left support abutment 150 is installed to comprising modules 2 on grinding electric main shaft bracket 160, and further groove 161 guarantees it as location feature
With the depth of parallelism of both sides guide rail；Module 2 is placed in module 1 again, force snesor right support abutment 130 and rolling are connected by threaded hole
Screw nut support 70 and grinding electric main shaft bracket 160 and four sliding blocks 30；Finally grinding electric main shaft 170 is installed on
Grinding electric main shaft bracket 160 is simultaneously clamped by bolt, the cutter shaft of grinding tool 190 is installed in BT30 knife handle 180, BT30 knife handle
180 are locked by 170 internal mechanism of grinding electric main shaft, to complete the assembling process of end effector.As shown in figure 8, passing through
End effector is installed to robot end by the locating flange 11 and threaded hole 12 of bottom support plate 10, and mounting means selection is outstanding
Extension method, this mode robot has preferable accessibility and operability, large-scale curved suitable for adjustable pitch propeller etc.
Grinding.
Wherein, above-mentioned force snesor 140 is preferably S type pull pressure sensor, the grinding of normal direction suffered by real-time detection grinding tool 190
Power, output and the analog voltage of surveyed grinding force linear correlation are inputted as the controller of end effector.
Displacement sensor 110 is preferably linear grating, the rising edge signal quantity of output and position deviation linear correlation.
Using it is above-mentioned actively comply with end effector to complex free curved surface carry out robot grinding method include following
Step:
Signal is issued by robot control system first make actively to comply with end effector and enters original state, end execution
Device set-up of control system driving motor returns to zero-bit and keeps lesser servo stiffness and damping；Robotically-driven end effector
Close to workpiece surface planning path starting point, force snesor detects normal grinding force signal, if signal rapid increase and being more than
Setting value, control system control servo motor rollback make the output of force sensor be maintained at setting value or near setting value it is small
Range fluctuation, and robot controller is notified to move along planned trajectory；If received, robot control system is close to finish letter
Number, force snesor does not detect that contact force signal or contact force signal are less than setting value, then control system control servo electricity
Machine advance makes the output of force sensor be maintained at setting value or the small range fluctuation near setting value, and robot is notified to control
Device is moved along planned trajectory；Since propeller blade edge rigidity is smaller, and position rigidity is larger among blade, passes through displacement
Integral stiffness under the available end effector of robot of the feedback data of sensor and force snesor and blade contact state,
So as to more effectively carry out contact force control；When end effector of robot and leaf abscission contact, displacement sensor
The position of ball-screw nut 60 is detected, in case it exceeds ball-screw stroke.Meanwhile displacement sensor will before starting every time
Zero point is returned to, the transformation matrix to guarantee robot is constant.The control of end effector contact force and the position control of robot are
Independent, robot controller mainly controls the movement of robot body, completes the trajectory planning task in process；End
The controller of actuator mainly acquires sensing data, while the quickly servo stiffness of dynamic regulation servo motor and position,
With the constant or small range fluctuation near setting value that maintains contact force, 1%, the two passes through serial the small-scale receiving range
Bus communication, the degree of coupling is low, therefore convenient to carry out.
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, not to
The limitation present invention, any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should all include
Within protection scope of the present invention.
Claims (5)
1. a kind of actively comply with end effector for adjustable pitch propeller robot grinding, which is characterized in that hold the end
Row device includes executing grinding tool component, control assembly and bottom support component, and wherein control assembly, which is contained in, executes grinding tool component
In the space of bottom support component composition；
Wherein executing grinding tool component includes for undertaking the grinding electric main shaft bracket (160) for executing cutter, grinding electric main shaft (170)
And grinding tool (180,190) are executed, the grinding electric main shaft bracket (160) is provided with for being arranged the grinding electric main shaft
(170) clip, wherein the execution grinding tool (180,190) is that axis executes movement with the grinding electric main shaft (170)；
Wherein control assembly includes power part and detecting means, and wherein power part includes following part: being set to the bottom support
The motor flange support (80) in bottom support plate (10) in component, ball-screw (50) left end and right end pass through bearing respectively
Seat (40) and the motor flange support (80) are fixed on bottom support plate (10), and the ball-screw (50) passes through ball-screw
Nut (60) provides grinding electric main shaft (170) freedom of axial movement, and AC servo motor (100) passes through shaft coupling
(90) it is connected with the ball-screw (50) and the bottom support plate is fixed on by the motor flange support (80)
(10) on, the power part further includes the controller being connected with the AC servo motor (100)；
The detecting means include following part: displacement sensor (110) and force snesor (140), wherein the displacement sensing
Device (110) is connected by being set to the displacement sensor support (120) of two sides with the bottom support plate (10), movable part with
Force snesor right support abutment (130) is connected, and the left side of the force snesor (140) passes through force snesor left support abutment (150) and grinding
Electric spindle support (160) is connected, and right side is by force snesor right support abutment (130) and is set on the ball-screw nut (60)
Ball-screw nut support (70) be connected, for detecting normal grinding force suffered by the grinding tool (180,190)；
The bottom support component further includes being set to the linear guide (20) on two sides edge on the bottom support plate (10), institute
It states grinding electric main shaft bracket (160) bottom and is slided by sliding block (30) along linear guide (20)；
Wherein, bottom support plate (10) is equipped with step surface, for guaranteeing the same of bearing block (40) and motor flange support (80)
Axis degree；Ball-screw nut (60) is connected by ball-screw nut support (70) with force snesor right support abutment (130), and displacement passes
Sensor (110) is installed against step surface, and the slipper of displacement sensor (110) is fixedly arranged on force snesor right support abutment (130),
To guarantee displacement sensor (110) slipper and the depth of parallelism of ball-screw nut (60) when moving；
The adjustable pitch propeller robot has master controller, and the controller of the end effector is embedded microcontroller
Device, the master controller are communicated with the embedded microcontroller by universal serial bus, by the adjustable pitch propeller machine
The master controller of device people, which issues signal, makes the end effector enter output state, and the AC servo is arranged in the controller
Motor (100) returns to zero-bit and keeps lesser servo stiffness and damping；The end effector is close to workpiece surface to be ground
Processing planning path starting point；When executing grinding, the force snesor (140) detects normal grinding force signal, if institute
It states grinding force signal and is more than or less than threshold value, the controller accordingly controls the AC servo motor (100) and retracts or advance
So that the output of the force snesor (140) is maintained at the threshold value or Near Threshold fluctuation, and the signal after feedback adjustment is given
The adjustable pitch propeller robot continues to execute grinding.
2. actively complying with end effector, feature for adjustable pitch propeller robot grinding as described in claim 1
It is, the force snesor (140) is S type pull pressure sensor, the grinding of normal direction suffered by grinding tool (180,190) described in real-time detection
Power, and export and inputted with the analog voltage of surveyed grinding force linear correlation as the controller.
3. actively complying with end effector, spy for adjustable pitch propeller robot grinding as claimed in claim 1 or 2
Sign is that institute's displacement sensors (110) are linear grating, and linearly relevant signal gives the control to measured position information for output
Device processed.
4. actively complying with end effector, feature for adjustable pitch propeller robot grinding as claimed in claim 3
It is, the controller is received to be passed from the adjustable pitch propeller robot, the force snesor (140) and the displacement
The signal of sensor (110), and the position by controlling the AC servo motor (100) and servo stiffness are described to adjust
The normal grinding force of grinding tool (180,190).
5. a kind of active for adjustable pitch propeller robot grinding realized as described in any one of claim 1-4 is suitable
The control method of end effector is answered, wherein the adjustable pitch propeller robot has master controller, the end effector
Controller be embedded microcontroller, the master controller led to the embedded microcontroller by universal serial bus
News, which is characterized in that the control method includes the following steps:
(1) issuing signal by the master controller of the adjustable pitch propeller robot makes the end effector enter output shape
State, the controller are arranged the AC servo motor (100) and return to zero-bit and keep lesser servo stiffness and damping；It is described
Processing planning path starting point of the end effector close to workpiece surface to be ground；
(2) grinding is executed, the force snesor (140) detects normal grinding force signal, if the grinding force signal is greater than
Or it is less than threshold value, the controller accordingly controls the AC servo motor (100) and retracts or advance so that the force snesor
(140) output is maintained at the threshold value or Near Threshold fluctuation, and the signal after feedback adjustment gives the adjustable pitch propeller
Robot continues to execute grinding.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510764987.9A CN105563309B (en) | 2015-11-11 | 2015-11-11 | It is a kind of actively to comply with end effector and its control method for adjustable pitch propeller robot grinding |
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| CN201510764987.9A CN105563309B (en) | 2015-11-11 | 2015-11-11 | It is a kind of actively to comply with end effector and its control method for adjustable pitch propeller robot grinding |
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| CN105563309B true CN105563309B (en) | 2019-04-12 |
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